An Approach to Automated Construction Using Adaptive Programing
With advancements in sensing and adaptive behavior programming the use of robots in complex environments such as building sites (typically the sole domain of human labor) is becoming increasingly feasible. However, large challenges remain before we can consider on-site robotic construction as a cost effective alternative to other means of construction. One major challenge lays in developing robotic systems that can safely work with unpredictable construction materials alongside human co-workers. To achieve this continuous sensing/actuation feedback is required, an approach that contrasts that typically found on an assembly line where “blind” robots perform pre-programmed routines. Our research presents a new robot control plug-in called “Scorpion” and a Java/Processing server, which in combination provide a workflow where multiple layers of sensing provide fast, continuous feedback to a robotic workcell. As a demonstration, this adaptive programming approach is employed in a case study of robotic bricklaying with mortar, using traditional tools as end effectors.
KeywordsIndustrial robots Construction Robotic control Computer vision Adaptive programing
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